DocumentCode :
3597272
Title :
Reconfigurable multi-agent robots with mixed modes of mobility
Author :
Clerc, Jean-Philippe ; Wiens, Gloria J.
Author_Institution :
Mech. & Aerosp. Eng., Florida Univ., Gainesville, FL, USA
Volume :
3
fYear :
2004
Firstpage :
2123
Abstract :
This paper focuses on eliminating mobility constraints inherent in current robot locomotion designs, by extending the robot´s adaptability and range with mixed/multiple mobility modes. It is assumed that the robots navigates into a known and controlled environment, potentially equipped with smart structures in order to allow the free movement of the robot. The mechanical designs, kinematics analysis, and the sensor suite of the system are presented including experimental results. An approach to climbing using a modular serial-paired design and a minimal torque-based path-planning algorithm is also presented.
Keywords :
mobile robots; multi-agent systems; multi-robot systems; path planning; robot kinematics; kinematics analysis; mechanical designs; mobility constraints elimination; modular serial-paired design; reconfigurable multiagent robots; robot locomotion; torque-based path-planning algorithm; Algorithm design and analysis; Intelligent robots; Intelligent sensors; Intelligent structures; Kinematics; Mechanical sensors; Mobile robots; Navigation; Robot sensing systems; Sensor systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-8232-3
Type :
conf
DOI :
10.1109/ROBOT.2004.1307376
Filename :
1307376
Link To Document :
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